论文标题
动态自由空间路线图，用于安全四光运动计划
Dynamic Free-Space Roadmap for Safe Quadrotor Motion Planning
论文作者
论文摘要
面向空间的路线图通常会产生一系列凸的几何原语，这些凸形构成了运动计划的安全区域。但是，对于这种路线图，假定静态环境。这个假设使其无法应对动态障碍并限制其应用。在本文中，我们提出了动态的自由空间路线图，该路线图提供了可行的空间和一个用于安全四光运动计划的导航图。我们的路线图是通过在环境中连续播种和提取自由区域来构建的。为了使我们的地图适应动态障碍物的环境，我们将多面体与障碍物相交为无障碍区域，而该图也通过精心设计的机制进行了更新。广泛的模拟和现实世界实验表明，我们的方法实际上是适用和有效的。
Free-space-oriented roadmaps typically generate a series of convex geometric primitives, which constitute the safe region for motion planning. However, a static environment is assumed for this kind of roadmap. This assumption makes it unable to deal with dynamic obstacles and limits its applications. In this paper, we present a dynamic free-space roadmap, which provides feasible spaces and a navigation graph for safe quadrotor motion planning. Our roadmap is constructed by continuously seeding and extracting free regions in the environment. In order to adapt our map to environments with dynamic obstacles, we incrementally decompose the polyhedra intersecting with obstacles into obstacle-free regions, while the graph is also updated by our well-designed mechanism. Extensive simulations and real-world experiments demonstrate that our method is practically applicable and efficient.
